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Flying behavior now works again

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This commit is contained in:
Anthony J. Thibault 2016-09-20 16:00:49 -07:00
parent fdb6110c46
commit 4afd60f22a
2 changed files with 93 additions and 94 deletions
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186
interface/src/avatar/MyAvatar.cpp
View file

@ -1288,6 +1288,9 @@ controller::Pose MyAvatar::getRightHandControllerPoseInAvatarFrame() const {
}
void MyAvatar::updateMotors() {
const float DEFAULT_MOTOR_TIMESCALE = 0.2f;
const float INVALID_MOTOR_TIMESCALE = 1.0e6f;
_characterController.clearMotors();
glm::quat motorRotation;
if (_motionBehaviors & AVATAR_MOTION_ACTION_MOTOR_ENABLED) {
@ -1300,12 +1303,10 @@ void MyAvatar::updateMotors() {
glm::quat liftRotation;
swingTwistDecomposition(getHead()->getCameraOrientation(), _worldUpDirection, liftRotation, motorRotation);
}
const float DEFAULT_MOTOR_TIMESCALE = 0.2f;
const float INVALID_MOTOR_TIMESCALE = 1.0e6f;
if (qApp->isHMDMode()) {
// OUTOFBODY_HACK: add default zero velocity motor to the characterController
_characterController.addMotor(glm::vec3(), motorRotation, DEFAULT_MOTOR_TIMESCALE, INVALID_MOTOR_TIMESCALE);
// OUTOFBODY_HACK: only apply vertical component of _actionMotorVelocity to the characterController
_characterController.addMotor(glm::vec3(0, _actionMotorVelocity.y, 0), motorRotation, DEFAULT_MOTOR_TIMESCALE, INVALID_MOTOR_TIMESCALE);
} else {
if (_isPushing || _isBraking || !_isBeingPushed) {
_characterController.addMotor(_actionMotorVelocity, motorRotation, DEFAULT_MOTOR_TIMESCALE, INVALID_MOTOR_TIMESCALE);
@ -1325,7 +1326,12 @@ void MyAvatar::updateMotors() {
// world-frame
motorRotation = glm::quat();
}
_characterController.addMotor(_scriptedMotorVelocity, motorRotation, _scriptedMotorTimescale);
if (qApp->isHMDMode()) {
// OUTOFBODY_HACK: only apply vertical component of _scriptedMotorVelocity to the characterController
_characterController.addMotor(glm::vec3(0, _scriptedMotorVelocity.y, 0), motorRotation, DEFAULT_MOTOR_TIMESCALE, INVALID_MOTOR_TIMESCALE);
} else {
_characterController.addMotor(_scriptedMotorVelocity, motorRotation, _scriptedMotorTimescale);
}
}
// legacy support for 'MyAvatar::applyThrust()', which has always been implemented as a
@ -1740,92 +1746,65 @@ void MyAvatar::updateOrientation(float deltaTime) {
void MyAvatar::updateActionMotor(float deltaTime) {
if (qApp->isHMDMode()) {
// actions are constant velocity, for your comfort
// OUTOFBODY_HACK TODO: what about flying?!?!
// compute action input
glm::vec3 front = (_driveKeys[TRANSLATE_Z]) * IDENTITY_FRONT;
glm::vec3 right = (_driveKeys[TRANSLATE_X]) * IDENTITY_RIGHT;
glm::vec3 direction = front + right;
_isPushing = false;
_isBeingPushed = false;
_wasPushing = _isPushing;
float directionLength = glm::length(direction);
_isPushing = directionLength > EPSILON;
// normalize direction
if (_isPushing) {
direction /= directionLength;
} else {
direction = Vectors::ZERO;
}
_actionMotorVelocity = MAX_WALKING_SPEED * direction;
bool thrustIsPushing = (glm::length2(_thrust) > EPSILON);
bool scriptedMotorIsPushing = (_motionBehaviors & AVATAR_MOTION_SCRIPTED_MOTOR_ENABLED)
&& _scriptedMotorTimescale < MAX_CHARACTER_MOTOR_TIMESCALE;
_isBeingPushed = thrustIsPushing || scriptedMotorIsPushing;
if (_isPushing || _isBeingPushed) {
// we don't want the motor to brake if a script is pushing the avatar around
// (we assume the avatar is driving itself via script)
_isBraking = false;
} else {
bool thrustIsPushing = (glm::length2(_thrust) > EPSILON);
bool scriptedMotorIsPushing = (_motionBehaviors & AVATAR_MOTION_SCRIPTED_MOTOR_ENABLED)
&& _scriptedMotorTimescale < MAX_CHARACTER_MOTOR_TIMESCALE;
_isBeingPushed = thrustIsPushing || scriptedMotorIsPushing;
if (_isPushing || _isBeingPushed) {
// we don't want the motor to brake if a script is pushing the avatar around
// (we assume the avatar is driving itself via script)
_isBraking = false;
} else {
float speed = glm::length(_actionMotorVelocity);
const float MIN_ACTION_BRAKE_SPEED = 0.1f;
_isBraking = _wasPushing || (_isBraking && speed > MIN_ACTION_BRAKE_SPEED);
}
float speed = glm::length(_actionMotorVelocity);
const float MIN_ACTION_BRAKE_SPEED = 0.1f;
_isBraking = _wasPushing || (_isBraking && speed > MIN_ACTION_BRAKE_SPEED);
}
// compute action input
glm::vec3 front = (_driveKeys[TRANSLATE_Z]) * IDENTITY_FRONT;
glm::vec3 right = (_driveKeys[TRANSLATE_X]) * IDENTITY_RIGHT;
// compute action input
glm::vec3 front = (_driveKeys[TRANSLATE_Z]) * IDENTITY_FRONT;
glm::vec3 right = (_driveKeys[TRANSLATE_X]) * IDENTITY_RIGHT;
glm::vec3 direction = front + right;
CharacterController::State state = _characterController.getState();
if (state == CharacterController::State::Hover) {
// we're flying --> support vertical motion
glm::vec3 up = (_driveKeys[TRANSLATE_Y]) * IDENTITY_UP;
direction += up;
}
glm::vec3 direction = front + right;
CharacterController::State state = _characterController.getState();
if (state == CharacterController::State::Hover) {
// we're flying --> support vertical motion
glm::vec3 up = (_driveKeys[TRANSLATE_Y]) * IDENTITY_UP;
direction += up;
}
_wasPushing = _isPushing;
float directionLength = glm::length(direction);
_isPushing = directionLength > EPSILON;
_wasPushing = _isPushing;
float directionLength = glm::length(direction);
_isPushing = directionLength > EPSILON;
// normalize direction
if (_isPushing) {
direction /= directionLength;
} else {
direction = Vectors::ZERO;
}
if (state == CharacterController::State::Hover) {
// we're flying --> complex acceleration curve that builds on top of current motor speed and caps at some max speed
float motorSpeed = glm::length(glm::vec3(_actionMotorVelocity.x, _actionMotorVelocity.y, _actionMotorVelocity.z));
float finalMaxMotorSpeed = getUniformScale() * MAX_ACTION_MOTOR_SPEED;
float speedGrowthTimescale = 2.0f;
float speedIncreaseFactor = 1.8f;
motorSpeed *= 1.0f + glm::clamp(deltaTime / speedGrowthTimescale, 0.0f, 1.0f) * speedIncreaseFactor;
const float maxBoostSpeed = getUniformScale() * MAX_BOOST_SPEED;
// normalize direction
if (_isPushing) {
direction /= directionLength;
} else {
direction = Vectors::ZERO;
}
if (state == CharacterController::State::Hover) {
// we're flying --> complex acceleration curve that builds on top of current motor speed and caps at some max speed
float motorSpeed = glm::length(_actionMotorVelocity);
float finalMaxMotorSpeed = getUniformScale() * MAX_ACTION_MOTOR_SPEED;
float speedGrowthTimescale = 2.0f;
float speedIncreaseFactor = 1.8f;
motorSpeed *= 1.0f + glm::clamp(deltaTime / speedGrowthTimescale , 0.0f, 1.0f) * speedIncreaseFactor;
const float maxBoostSpeed = getUniformScale() * MAX_BOOST_SPEED;
if (_isPushing) {
if (motorSpeed < maxBoostSpeed) {
// an active action motor should never be slower than this
float boostCoefficient = (maxBoostSpeed - motorSpeed) / maxBoostSpeed;
motorSpeed += MIN_AVATAR_SPEED * boostCoefficient;
} else if (motorSpeed > finalMaxMotorSpeed) {
motorSpeed = finalMaxMotorSpeed;
}
if (motorSpeed < maxBoostSpeed) {
// an active action motor should never be slower than this
float boostCoefficient = (maxBoostSpeed - motorSpeed) / maxBoostSpeed;
motorSpeed += MIN_AVATAR_SPEED * boostCoefficient;
} else if (motorSpeed > finalMaxMotorSpeed) {
motorSpeed = finalMaxMotorSpeed;
}
_actionMotorVelocity = motorSpeed * direction;
} else {
// we're interacting with a floor --> simple horizontal speed and exponential decay
_actionMotorVelocity = MAX_WALKING_SPEED * direction;
}
_actionMotorVelocity = motorSpeed * direction;
} else {
// we're interacting with a floor --> simple horizontal speed and exponential decay
_actionMotorVelocity = MAX_WALKING_SPEED * direction;
}
float boomChange = _driveKeys[ZOOM];
@ -1833,6 +1812,16 @@ void MyAvatar::updateActionMotor(float deltaTime) {
_boomLength = glm::clamp<float>(_boomLength, ZOOM_MIN, ZOOM_MAX);
}
void MyAvatar::applyVelocityToSensorToWorldMatrix(const glm::vec3& velocity, float deltaTime) {
glm::vec3 horizontalVelocity(velocity.x, 0.0f, velocity.z);
float speed2 = glm::length2(horizontalVelocity);
if (speed2 > MIN_AVATAR_SPEED_SQUARED) {
glm::vec3 position = extractTranslation(_sensorToWorldMatrix) + deltaTime * horizontalVelocity;
// update the position column of matrix
_sensorToWorldMatrix[3] = glm::vec4(position, 1);
}
}
void MyAvatar::updatePosition(float deltaTime) {
if (_motionBehaviors & AVATAR_MOTION_ACTION_MOTOR_ENABLED) {
updateActionMotor(deltaTime);
@ -1856,18 +1845,27 @@ void MyAvatar::updatePosition(float deltaTime) {
float speed2 = glm::length2(velocity);
_moving = speed2 > MOVING_SPEED_THRESHOLD_SQUARED;
// OUTOFBODY_HACK, apply _actionMotorVelocity directly to the sensorToWorld matrix!
glm::quat motorRotation;
glm::quat liftRotation;
swingTwistDecomposition(glmExtractRotation(_sensorToWorldMatrix * getHMDSensorMatrix()), _worldUpDirection, liftRotation, motorRotation);
if (qApp->isHMDMode()) {
float speed2 = glm::length2(_actionMotorVelocity);
if (speed2 > MIN_AVATAR_SPEED_SQUARED) {
glm::vec3 worldVelocity = motorRotation * _actionMotorVelocity;
// update sensor to world position ourselves
glm::vec3 position = extractTranslation(_sensorToWorldMatrix) + deltaTime * worldVelocity;
_sensorToWorldMatrix[3] = glm::vec4(position, 1);
// Apply _actionMotorVelocity directly to the sensorToWorld matrix.
glm::quat motorRotation;
glm::quat liftRotation;
swingTwistDecomposition(glmExtractRotation(_sensorToWorldMatrix * getHMDSensorMatrix()), _worldUpDirection, liftRotation, motorRotation);
glm::vec3 worldVelocity = motorRotation * _actionMotorVelocity;
applyVelocityToSensorToWorldMatrix(worldVelocity, deltaTime);
// Apply _scriptedMotorVelocity to the sensorToWorld matrix.
if (_motionBehaviors & AVATAR_MOTION_SCRIPTED_MOTOR_ENABLED) {
if (_scriptedMotorFrame == SCRIPTED_MOTOR_CAMERA_FRAME) {
motorRotation = getHead()->getCameraOrientation() * glm::angleAxis(PI, Vectors::UNIT_Y);
} else if (_scriptedMotorFrame == SCRIPTED_MOTOR_AVATAR_FRAME) {
motorRotation = getOrientation() * glm::angleAxis(PI, Vectors::UNIT_Y);
} else {
// world-frame
motorRotation = glm::quat();
}
worldVelocity = motorRotation * _scriptedMotorVelocity;
applyVelocityToSensorToWorldMatrix(worldVelocity, deltaTime);
}
}
}

1
interface/src/avatar/MyAvatar.h
View file

@ -375,6 +375,7 @@ private:
virtual void updatePalms() override {}
void lateUpdatePalms();
void applyVelocityToSensorToWorldMatrix(const glm::vec3& velocity, float deltaTime);
float _driveKeys[MAX_DRIVE_KEYS];
bool _wasPushing;